JP4901791B2 - Work positioning machine - Google Patents

Description

  The present invention relates to a workpiece positioning / conveying device, for example, to a plate-shaped workpiece positioning and conveying, and supplying to a workpiece processing machine such as a bending machine.

2. Description of the Related Art Conventionally, there is known a workpiece positioning / conveying device configured to position a workpiece on an origin positioning table in X and Y directions, move a carriage to a front table, and deliver the workpiece to a manipulator (for example, see Patent Document 1). ).
Japanese Patent No. 3736800

  By the way, in the conventional workpiece positioning and conveying apparatus, when the carriage is moved and the workpiece is conveyed to the front table, there is a possibility that the displacement of the workpiece (position displacement with respect to the carriage) may occur. For example, when the workpiece has a hole or a convex portion, the positional deviation occurs when the hole or the convex portion comes into contact with the brush of the front table formed of the brush table.

  Even when such a positional deviation occurs, since the front table or carriage is not provided with a mechanism for positioning the workpiece, the workpiece cannot be repositioned immediately. In order to reposition the workpiece, it is necessary to return the workpiece and the carriage to the origin positioning table, and there is a problem that the positioning and conveying time of the workpiece is extended by this returning operation and the like.

  The present invention has been made in view of the above-described problems, and can prevent the workpiece positioning and conveyance time from being extended as much as possible even when the workpiece is displaced during the conveyance of the workpiece. An object is to provide a positioning and conveying apparatus.

According to the first aspect of the present invention, the workpiece is positioned with respect to the carriage by abutting the workpiece against the front table, the carriage moving in a direction approaching or moving away from the front table, and the abutting portion. Detection for detecting that a positional deviation between the workpiece positioning and holding mechanism provided on the carriage and the workpiece held by the workpiece positioning and holding mechanism with respect to the carriage has occurred in order to hold the positioned workpiece by the carriage. When the position of the workpiece is detected by the means and the detecting means, the workpiece is repositioned with respect to the carriage by abutting the workpiece against the abutting portion, and the carriage is moved after the repositioning, Control means for controlling the carriage and the workpiece positioning and holding mechanism; A work positioning conveying apparatus having.

  According to a second aspect of the present invention, in the workpiece positioning / conveying device according to the first aspect, the workpiece positioning and holding mechanism is movable in one horizontal direction relative to the carriage and clamps the workpiece. And a second clamper that is movable relative to the carriage in one other direction in the horizontal direction and clamps the workpiece, and the control means is the second clamper. After clamping the workpiece and moving the second clamper to position the workpiece in the other direction, the workpiece is clamped by the second clamper and the position of the workpiece in the other direction. The workpiece is clamped by the first clamper and the first clamper is moved to position the workpiece in the one direction. In so that the a work positioning conveying device is a means for controlling each clamper.

  The invention according to claim 3 is provided on the front side of the work processing machine, and members extending in the front-rear direction in a plan view are arranged at predetermined intervals in the left-right direction, and a plate-like work is placed thereon. And a front table that is provided on the front side of the front table and is formed in a comb shape in plan view, and the long side portion of the comb extends in the left-right direction and is positioned on the opposite side of the work processing machine with the front table interposed therebetween. Each tooth of the comb extends in the direction from the long side toward the workpiece processing machine, and each tooth enters between each member of the front table. A carriage that can be moved and positioned in the front-rear direction with respect to the table, input means for inputting the form of the workpiece placed on the carriage, and a placement that is a workpiece placed on the carriage A first abutting gauge provided on the carriage for abutting a finished workpiece and movable and positioned in the left-right direction with respect to the carriage on one end side in the left-right direction of the long side portion of the carriage; The second part is provided on the carriage for abutting the above-mentioned workpiece, and is movable and positionable in the left-right direction with respect to the carriage on the other end side in the left-right direction of the long side part of the carriage. The abutment gauge is provided on the carriage, and the base end side engages with the long side portion of the carriage so that the carriage can be moved and positioned in the left-right direction, and the tip end side is the front table side. A left-right clamp arm extending to the left-right clamp arm, and a moving position relative to the left-right clamp arm in the front-rear direction. A right-and-left direction clamper that clamps the workpiece that is in contact with the abutting portion, and a carriage between the abutting gauges. Provided in the front-rear direction clamp base that is movable in the front-rear direction with respect to the carriage, and provided in the front-rear direction clamp base, and is movable relative to the clamp base in the left-right direction. An abutting portion for abutting the placed workpiece is clamped, and the workpiece abutting against the abutting portion is clamped, and when a lateral force is not applied, an intermediate portion in the lateral direction with respect to the clamp base A front-rear direction clamper that is positioned in the left-right direction when a force in the left-right direction is applied, and moves in the left-right direction according to the applied force, A left-right direction sensor that detects that the previously placed workpiece is in contact with the abutting portion of the left-right direction clamper, and a previously placed workpiece clamped by the left-right direction clamper in a direction approaching the left-right direction sensor. A left and right direction pulling mechanism that pulls in the previously placed workpiece clamped by the left and right direction clamper so as to move further, and detects that the previously placed workpiece is in contact with the abutting portion of the front and rear direction clamper. The front-rear direction for pulling the previously placed workpiece clamped by the front-rear direction clamper so that the previously placed workpiece clamped by the front-rear direction sensor and the front-rear direction clamper further moves in a direction approaching the front-rear direction sensor A first mechanism for detecting that the placed workpiece is in contact with the retracting mechanism and the first abutting gauge; Abutment gauge longitudinal sensor, a second abutment gauge longitudinal sensor for detecting that the previously placed workpiece is in contact with the second abutment gauge, and the workpiece input by the input means The abutting gauges are moved and positioned according to the form of the above, and the left and right direction clamp arms, the front and rear direction clamp bases, the clampers, the sensors, and the retracting mechanisms are used to describe the carriage. Positioning, holding and retracting the placed work, starting the movement of the carriage in the state of positioning, holding and retracting, and moving the carriage to a predetermined position, At least one of the abutment gauge front-rear direction sensors does not detect the placed workpiece. The carriage, the abutment so as to stop the movement of the carriage, and restart the movement of the carriage after the positioning, holding and pulling of the placed workpiece with respect to the carriage is performed again. It is a workpiece positioning and conveying device having a gauge, the left and right clamp arm, the front and rear clamp base, each clamper, and a control device that controls each pulling mechanism.

  According to a fourth aspect of the present invention, in the workpiece positioning and conveying apparatus according to the third aspect, the workpiece is a workpiece in which rectangular notches are provided at four corners of a rectangular plate-shaped material, and the input The means is a means for inputting the width and length of the material and the size of the notch of the plate-like workpiece provided with the notch, and the first butting gauge longitudinal sensor is A sensor that detects that the previously placed workpiece is in contact with one end of the first abutting gauge in a direction, and the second abutting gauge longitudinal sensor is the second abutting gauge longitudinal sensor. It is a sensor for detecting that the previously placed workpiece is in contact with one end of the abutting gauge, and is described above at one end of the first abutting gauge in the left-right direction on the second abutting gauge side. A first abutment gauge lateral direction sensor for detecting that the finished workpiece is in contact, wherein the control device positions the placed workpiece as described above with reference to the notch of the workpiece. It is a workpiece positioning / conveying device which is a device for controlling a carriage, each abutment gauge, the left / right clamp arm, the front / rear clamp base, each clamper, and each retracting mechanism.

According to the fifth aspect of the invention, the workpiece is positioned against the carriage by abutting the workpiece against the abutting portion, and the workpiece positioned by the positioning device is conveyed by moving the carriage. When the workpiece is displaced with respect to the carriage during conveyance by the conveyance unit and the conveyance unit, the workpiece is abutted against the abutting portion so that the workpiece is repositioned. A workpiece positioning and conveying apparatus having a control means for controlling positioning means.

  ADVANTAGE OF THE INVENTION According to this invention, even if it is a case where the position shift of a workpiece | work generate | occur | produces during conveyance of a workpiece | work, it can be provided that the workpiece positioning conveyance apparatus which can prevent the positioning and conveyance time of a workpiece | work extending as much as possible can be provided. There is an effect.

  FIG. 1 is a plan view showing a schematic configuration of a workpiece positioning / conveying apparatus 1 according to an embodiment of the present invention.

  Hereinafter, for convenience of explanation, one direction in the horizontal direction is the X direction (X axis direction), and another direction in the horizontal direction that is perpendicular to the X direction is the Y direction (Y axis direction). A direction (vertical direction; vertical direction) perpendicular to the X direction and the Y direction may be referred to as a Z direction (Z axis direction).

  The workpiece positioning and conveying device 1 is a device that positions, for example, a plate-like workpiece W and supplies the positioned workpiece W to a workpiece processing machine such as a plate material bending machine BM. And a carriage 5 that moves in an approaching / separating direction (Y direction; front-rear direction).

  The carriage 5 is provided with a workpiece positioning and holding mechanism 7. The workpiece positioning and holding mechanism 7 positions the workpiece W with respect to the carriage 5 so that the positioned workpiece W is integrally held by the carriage 5. It has become. Further, the carriage 5 is provided with detection means 9 for detecting that a position shift of the work W (work held by the work positioning holding mechanism 7) W with respect to the carriage 5 has occurred.

  The workpiece positioning / conveying device 1 is provided with a control device (not shown) (for example, an NC control device for controlling the plate bending machine BM), and the workpiece W held by the workpiece positioning and holding mechanism 7 is transferred by the carriage 5. When the detection means 9 detects a position shift of the workpiece W during conveyance, the workpiece positioning holding mechanism 7 and the carriage 5 are controlled under the control of the control device, and the workpiece W is repositioned with respect to the carriage 5. After the repositioning, the carriage 5 is moved to transport the workpiece W to a predetermined position on the front table 3 side. On the other hand, when the position shift of the work W by the detecting means 9 is not detected, the work W is transported to a predetermined position on the front table 3 side without performing repositioning.

  The workpiece W transported to a predetermined position on the front table 3 side is clamped by a manipulator (manipulator located at the position PS1 in FIG. 1) MP and released from being held by the workpiece positioning holding mechanism 7, and is then released by the manipulator MP. The sheet material bending machine BM is supplied (the manipulator MP is transported by moving from the position PS1 to the position PS2), and the bending process or the like is performed.

  The manipulator MP sandwiches and clamps the workpiece W between the lower holder and the upper holder, and for example, the one disclosed in Japanese Patent Application Laid-Open No. 2007-237191 is adopted. Similarly, for example, the plate bending machine BM described in Japanese Patent Application Laid-Open No. 2007-237191 is adopted.

  The workpiece positioning and holding mechanism 7 includes a first clamper (X direction clamper) 11 that clamps the workpiece W and a second clamper (Y direction clamper) 13 that clamps the workpiece W. The X direction clamper 11 is movable with respect to the carriage 5 in one horizontal direction (X direction). The second clamper (Y direction clamper) 13 is movable with respect to the carriage 5 in another horizontal direction (Y direction).

  Under the control of the control device, first, the workpiece W is clamped by the Y-direction clamper 13 and the Y-direction clamper 13 is moved in the Y direction to position the workpiece W in the Y direction. Thereafter, the workpiece W is clamped by the X direction clamper 11 while the workpiece W is clamped by the Y direction clamper 13 and the position of the workpiece W in the Y direction is maintained, and the X direction clamper 11 is moved in the X direction. The workpiece W is positioned in the X direction.

  The front table 3 is provided integrally with the plate material bending machine BM on the front side (lower side in FIG. 1) of the plate material bending machine BM. In plan view, the front table 3 is formed in a comb shape, and the long side portion 15 of the comb extends in the left-right direction (X direction) and is positioned on the plate material bending machine BM side. Further, each notch of the comb and each tooth 17 extend in the front-rear direction (Y direction) on the opposite side of the plate bending machine BM with the long side portion 15 therebetween.

  A brush table is formed on the front table 3 by the brush 19 being planted on the top of each tooth 17. By supporting the brush 19 with the brush 19, for example, a rectangular plate-like workpiece W is formed. The front table 3 is placed so that the thickness direction is the vertical direction (Z direction).

  In plan view, a notch 21 for allowing the manipulator MP to pass is actually provided in the middle portion of the front table 3 in the left-right direction. Here, in addition to the notch portion 21 being provided, the long side portion 15 may be deleted. By deleting the long side portions 15 in this way, in the front table 3, the members (members corresponding to the teeth 17) 17 extending in the front-rear direction are arranged at predetermined intervals in the left-right direction. become.

  The carriage 5 is provided on the front side (lower side in FIG. 1) of the front table 3. Further, the carriage 5 is formed in a comb shape in plan view. The long side portion 23 of the comb extends in the X direction and is positioned on the opposite side of the plate bending machine BM with the front table 3 interposed therebetween. Further, each notch and each tooth 25 of the comb extend in a direction (Y direction) from the long side portion 23 toward the plate material bending machine BM (front table 3).

  A brush table is formed on the front table 3 by the brush 27 being planted on the upper portion of each tooth 25, and the plate-like workpiece W is supported by the brush 27, so that the thickness of the workpiece W is increased. The carriage 5 is placed so that the direction is vertical.

  Note that the lower surface of the work W on which the front table 3 is placed and the lower surface of the work W on which the carriage 5 is placed are located at substantially the same height. In other words, the pass lines of the workpiece W are almost coincident with each other. In addition, the pass line of the workpiece W clamped by the manipulator MP is substantially coincident with the pass line of the workpiece W on which the front table 3 is placed.

  Each tooth 25 of the carriage 5 enters each notch existing between each member (each tooth) 17 of the front table 3. The carriage 5 can be moved and positioned in the front-rear direction (Y direction) with respect to the front table 3 (plate material bending machine BM).

  Further, for example, the carriage 5 is supported by the front table 3 via a linear guide bearing (not shown), and the front table 3 is controlled in the Y direction under the control of the control device by a servo motor and a ball screw (not shown). It can be moved and positioned freely.

  The carriage 5 is provided with a first butting gauge 29 and a second butting gauge 31. The first abutment gauge 29 abuts one end portion (front end portion; a portion on the left side of the lower side in FIG. 1) in the front-rear direction of the placed workpiece W that is a workpiece placed on the carriage 5. It is provided for this purpose. The first abutting gauge 29 is movable and positioned in the left-right direction with respect to the carriage 5 on the upper side of the long side portion 23 of the carriage 5 and on one end side (left side) in the left-right direction (X direction). It has become.

  The second abutment gauge 31 has another end portion in the front-rear direction of the mounted workpiece W that is a workpiece placed on the carriage 5 (front end portion; a portion on the right side of the lower side in FIG. 1). It is provided for abutting. The second abutment gauge 31 is movable and positionable in the left-right direction with respect to the carriage 5 on the other side (right side) in the left-right direction (X direction) above the long side portion 23 of the carriage 5. It has become. The abutment gauges 29 and 31 are located at the same position in the front-rear direction (Y direction).

  Further, for example, the first butting gauge 29 is supported on the long side portion 23 of the carriage 5 via a linear guide bearing (not shown), and is controlled by the control device by a servo motor and a ball screw (not shown). Below, it can be moved and positioned with respect to the carriage 5 in the X direction. Similarly, the second butting gauge 31 is also movable and positionable.

  Each of the abutment gauges 29 and 31 is independently moved and positioned by a servo motor and a ball screw for moving the abutment gauges. A configuration in which the contact gauges 29 and 31 are moved and positioned may be employed. In other words, a ball screw having a right-hand thread portion is screwed into the first abutting gauge 29, and the ball screw having a left-hand thread portion is screwed into the second abutting gauge 31 to drive one servo motor. By doing so, the abutment gauges 29 and 31 may be moved and positioned symmetrically with respect to the Y-direction clamp base 35.

  The carriage 5 is provided with a left / right clamp arm (X direction clamp arm) 33 and a front / rear direction clamp base (Y direction clamp base) 35.

  The left / right clamp arm 33 is provided on the upper side of the carriage 5. The left / right clamp arm 33 extends in the Y direction. A portion on the base end side of the left / right clamp arm 33 engages with the long side portion 23 of the carriage 5 so that the left / right clamp arm 33 can be moved and positioned with respect to the carriage 5 in the left / right direction.

  For example, the base end side portion of the left / right clamp arm 33 is supported on the long side portion 23 of the carriage 5 via a linear guide bearing (not shown), and the control is performed by a servo motor and a ball screw (not shown). Under the control of the apparatus, the left and right clamp arm 33 is movable and positionable with respect to the carriage 5 in the X direction.

  A portion on the distal end side in the left-right direction clamp arm 33 extends in the front-rear direction to the front table 3 side (plate material bending machine BM side).

  The front / rear direction clamp base 35 is provided on the carriage 5 substantially above the long side portion 23 of the carriage 5. The front-rear direction clamp base 35 is located between the butting gauges 29 and 31. Thereby, the front-rear direction clamp base 35 is provided, for example, in the substantially central portion of the carriage 5 in the left-right direction.

  The front / rear direction clamp base 35 is movable in the front / rear direction with respect to the carriage 5. For example, the front / rear direction clamp base 35 is supported by the long side portion 23 of the carriage 5 via a linear guide bearing (not shown), and is controlled by the control device by a hydraulic cylinder or servo motor (not shown) and a ball screw. Below, it can be moved and positioned with respect to the carriage 5 in the Y direction.

  A left and right direction clamper (X direction clamper) 11 is provided on the distal end side of the left and right direction clamp arm 33. The left-right direction clamper 11 is movable and positionable in the front-rear direction with respect to the left-right direction clamp arm 33. For example, the left-right clamper 11 is supported by a portion on the distal end side of the left-right clamp arm 33 via a linear guide bearing (not shown), and is controlled by the control device by a servo motor and a ball screw (not shown). It is possible to move and position with respect to the left and right clamp arm 33 in the Y direction.

  Further, the right direction clamper 11 is provided with an abutting portion 37 for abutting one end portion (left side of the workpiece W in FIG. 1) of the placed workpiece W in the left-right direction. And the right direction clamper 11 clamps the workpiece | work W which contact | abutted to the abutting part 37. FIG. Clamping by the right direction clamper 11 is performed by sandwiching the workpiece W in the vertical direction, and even when the workpiece is clamped by the right direction clamper 11, the height of the mounted workpiece W hardly changes. Yes. Moreover, the left-right direction clamper 11 is provided in the side (for example, right side) in which the mounted workpiece | work W exists of the left-right direction clamp arm 33. FIG.

  The front / rear direction clamper (Y direction clamper) 13 is provided on the front / rear direction clamp base 35 substantially above the long side portion 23 of the carriage 5 and the front / rear direction clamp base 35. The front-rear direction clamper 13 is movable with respect to the clamp base 35 in the left-right direction (X direction). When no left-right force is applied (normally), the front-rear direction clamper 13 moves in the left-right direction with respect to the clamp base 35. It is located in the middle part, and when a lateral force is applied, it moves in the lateral direction according to the applied force. For example, the front-rear direction clamper 13 is supported by the clamp base 35 via a linear guide bearing (not shown), and is urged by an elastic body such as a compression coil spring 39 from the left-right direction so that the clamp base 35 is normally operated. It is located in the middle part in the left-right direction.

  Further, the front-rear direction clamper 13 is provided with an abutting part 41 for abutting one end part (the lower side of the work W in FIG. 1) of the placed work W in the front-rear direction. And the workpiece | work W which contact | abutted to the butting part 41 is clamped by the front-back direction clamper 13. As shown in FIG. The clamping by the front / rear direction clamper 13 is performed by sandwiching the work in the vertical direction, and the height of the mounted work is hardly changed even when the work is clamped by the front / rear direction clamper 13. Yes. Further, the front-rear direction clamper 13 is provided on the side of the clamp base 35 on which the mounted work W exists (for example, on the upper side).

  The left-right direction clamper 11 is provided with a left-right direction sensor (X direction sensor) 43 for detecting that the mounted work W is in contact with the abutting portion 37 of the left-right direction clamper 11. Further, the front-rear direction clamper 13 is provided with a front-rear direction sensor (Y direction sensor) 45 for detecting that the mounted work W is in contact with the abutting portion 41 of the front-rear direction clamper 13.

  The left / right direction clamp arm 33 has a left / right direction clamper 11 so that the loaded workpiece W clamped by the left / right direction clamper 11 moves slightly further in the direction approaching the left / right direction sensor 43 (left side in FIG. 1). A left-right direction pull-in mechanism 47 for pulling the clamped mounted workpiece W is provided. Further, the front-rear direction clamper 35 is arranged so that the mounted work W clamped by the front-rear direction clamper 13 moves slightly further in the direction approaching the front-rear direction sensor 45 (lower side in FIG. 1). A front-rear direction pulling mechanism 49 for pulling the mounted work W clamped at 13 is provided.

  The first abutting gauge 29 is a first abutting gauge longitudinal sensor (first abutting gauge) for detecting that the workpiece W placed on the first abutting gauge 29 is in contact with the first abutting gauge 29. Y direction sensor) 51 is provided. A second butting gauge longitudinal sensor (second butting gauge) for detecting that the workpiece W placed on the second butting gauge 31 is in contact with the second butting gauge 31. Y direction sensor) 53 is provided.

  Each of the sensors 43, 45, 51, 53 is assumed to be composed of a limit switch, a proximity switch, or the like.

  The control device is provided with input means (not shown) configured by a touch panel or the like, and the form of the workpiece W (for example, a rectangular plate-like workpiece W) placed on the carriage 5 by the input means. The width (dimension in the Y direction) and the length (dimension in the X direction) are input to the control device.

  Then, according to the form of the workpiece W input by the input means, the abutting gauges 29 and 31 are moved and positioned under the control of the control device (for example, the distance between the abutting gauges 29 and 31 is It is moved and positioned so as to be slightly smaller than the length of the workpiece W), the left and right direction clamp arm 33, the front and rear direction clamp base 35, each clamper 11, 13, each sensor 43, 45, 51, 53, each retracting mechanism 47, 49 is used to position, hold, and retract the mounted workpiece W with respect to the carriage 5, and the carriage 5 is moved (moved toward the front table 3) in a state in which the positioning, holding, and retracting are performed. It is supposed to start.

  Further, in the middle of moving the carriage 5 to a predetermined position on the plate bending machine BM side, at least one of the left-right direction sensor 43 and the abutment gauge front-rear direction sensors 51, 53 is mounted on the mounted workpiece W. Is no longer detected, the movement of the carriage 5 is stopped, and the movement of the carriage 5 is resumed after positioning, holding and retracting the mounted work W with respect to the carriage 5 again.

  When the carriage 5 moves to a predetermined position, the work W is clamped by a manipulator (manipulator existing at the position PS1), the manipulator MP is moved to the position PS2, and the clamped work W is supplied to the plate material processing machine BM. The workpiece W is bent or the like.

  Here, the X direction clamper 11 and the retracting mechanism 47 will be described in detail with examples.

  FIG. 2 is a view showing a II-II cross section in FIG.

  The X direction clamper 11 includes a slider 55, a lower work clamp claw 57, an upper work clamp claw 59, a lower work clamp claw cylinder 61, and an upper work clamp claw cylinder 63.

  The slider 55, the lower work clamp claw 57, and the upper work clamp claw 59 have a predetermined appropriate width in the front-rear direction (the direction orthogonal to the paper surface of FIG. 2). The slider 55 extends in the up-down direction (Z direction), and the upper side is engaged with the left-right direction clamp arm 33 via a linear guide bearing. Thereby, as described above, the X-direction clamper 11 can be moved and positioned with respect to the left-right direction clamp arm 33.

  The lower end of the slider 55 is positioned at substantially the same height as the pass line of the work W of the carriage 5 (the upper end of the brush 27). In addition, an abutting portion 37 with which the workpiece W abuts and a left-right direction sensor 43 for detecting the abutted workpiece W are provided at the lower end portion of the slider 55.

  The lower work clamp claw 57 is formed in an “L” shape and extends in the vertical direction, and an intermediate portion in the vertical direction is engaged with an intermediate portion of the slider 55. The lower work clamp claw 57 is rotatable with respect to the slider 55 about the axis CL1. A head of the lower work clamp claw cylinder 61 is engaged with the upper portion of the slider 55 so as to be rotatable about the axis CL <b> 2, and a lower work clamp claw 57 is disposed above the lower work clamp claw 57. The rod of the cylinder 61 is engaged so as to be rotatable about the axis CL3. Then, when the rod of the lower work clamp claw cylinder 61 moves in and out of the head (cylinder main body), the lower work clamp claw 57 swings with respect to the slider 55. In the state shown in FIG. 2, the rod of the lower work clamp claw cylinder 61 does not protrude and enters the head.

  The lower part of the lower work clamp claw 57 extends in the left-right direction (X direction), and a notch 65 is formed in the lower part of the lower work clamp claw 57. Thereby, a substantially horizontal work placing portion 67 is formed at the lower part of the lower work clamp claw 57. In the state shown in FIG. 2, the work placement unit 67 is located at substantially the same height as the work W pass line of the carriage 5. Further, the abutting portion 37 and the left / right direction sensor 43 are located at an intermediate portion of the notch 65 in the left / right direction (X direction).

  The upper work clamp claw 59 extends in the left-right direction, and one end portion in the left-right direction is engaged with a lower intermediate portion of the lower work clamp claw 57 extending in the left-right direction. The upper work clamp claw 59 is rotatable with respect to the lower work clamp claw 57 about the axis CL4.

  On the upper part of the lower work clamp claw 57, the head of the upper work clamp claw cylinder 63 is rotatably engaged about the axis CL5. The rod of the upper work clamp claw cylinder 63 is engaged so as to be rotatable about the axis CL6.

  A convex workpiece contact portion 69 that contacts the workpiece W is provided at the lower portion of the upper workpiece clamp claw 59 and in the middle portion in the left-right direction. Then, when the rod of the upper work clamp claw cylinder 63 moves in and out of the head (cylinder main body), the upper work clamp claw 59 swings with respect to the lower work clamp claw 57. In the state shown in FIG. 2, the rod of the upper work clamp claw cylinder 63 is in the head. Therefore, the distance between the workpiece mounting portion 67 of the lower workpiece clamp claw 57 and the workpiece contact portion 69 of the upper workpiece clamp claw 59 is larger than the thickness of the workpiece W, and the workpiece W is clamped. It is not in a state.

  Here, a state where the cylinders 61 and 63 are operated is shown.

  FIG. 3 shows a state where the rod of the upper work clamp claw cylinder 63 protrudes from the state shown in FIG. 2 (the state where the rods of the cylinders 61 and 63 do not protrude). In the state shown in FIG. 3, the workpiece contact portion 69 of the upper workpiece clamp claw 59 is lowered, and the workpiece is placed between the workpiece placement portion 67 of the lower workpiece clamp claw 57 and the workpiece contact portion 69 of the upper workpiece clamp claw 59. W is sandwiched and clamped.

  FIG. 4 shows a state in which the rod of the lower work clamp claw cylinder 61 protrudes from the state shown in FIG. In the state shown in FIG. 4, the above-described work W is drawn. That is, in FIG. 3, the workpiece W is clamped, and when the rod of the lower work clamp claw cylinder 61 protrudes in this clamped state, the lower work clamp claw 57 and the upper work clamp claw 59 are pivoted. The workpiece W swinging clockwise around CL1 and sandwiched and clamped by the mounting portion 67 and the workpiece contact portion 69 is drawn to the left side of FIGS. The abutting portion 37 and the left / right direction sensor 43 are provided.

  The state shown in FIG. 5 shows a state in which the rods of the cylinders 61 and 63 protrude to the maximum from the state where the workpiece W shown in FIG. 2 is not clamped. In the state shown in FIG. 5, the lower work clamp claw 57 and the upper work clamp claw 59 are present above the work W placed on the brush 27 so that they do not interfere with the work W. Yes.

  The Y-direction clamper 13 and the pull-in mechanism 49 are configured in substantially the same manner as the X-direction clamper 11 and the pull-in mechanism 47. However, the Y-direction clamper 13 and the slider 55 of the retracting mechanism 49 are provided not to the left-right direction clamp arm 33 but to the front-rear direction clamp base 35 so as to be movable in the X direction. Accordingly, as described above, the front-rear direction clamper 13 is movable with respect to the clamp base 35 in the left-right direction.

  In the above description, the case where the rectangular plate-like workpiece W is positioned and moved has been described as an example. However, rectangular cutouts such as square shapes are provided at the four corners of the rectangular plate-like material. The ten-shaped work Wa (see FIG. 13) may be positioned and moved. This case will be further described.

  The first butting gauge 29 is provided with a first butting gauge X-direction sensor 71 in the same manner as the first butting gauge Y-direction sensor 51. The first abutting gauge X-direction sensor 71 is configured such that the loaded work W comes into contact with the end of the first abutting gauge 29 in the left-right direction and the end of the second abutting gauge 31. It is provided to detect that

  The second butting gauge 31 is provided with a second butting gauge X-direction sensor 73 in the same manner as the first butting gauge X-direction sensor 71. The second abutting gauge X-direction sensor 73 is configured such that the loaded work W comes into contact with the end of the second abutting gauge 31 in the left-right direction and on the end of the first abutting gauge 29. It is provided to detect that In addition, the structure which deleted the 2nd butting gauge X direction sensor 73 may be sufficient.

  As already understood, in the first abutting gauge front-rear direction sensor 51, the mounted work W comes into contact with one end portion (the upper end portion in FIG. 1) of the first abutting gauge 29 in the front-rear direction. The second abutting gauge front-rear direction sensor 53 is mounted on one end of the second abutting gauge 31 in the front-rear direction (the upper end in FIG. 1). It is a sensor which detects that is contacting. Further, for example, the sensors 43, 45, 51, 53, 71 constitute the detection means 9.

  The input means inputs the form of the plate-like workpiece Wa provided with the notches. For example, the width and length of a material without a notch and the size of the notch (width or length or the length of one side of the notch) are input. In addition, a square bowl-shaped thing is produced | generated by bend | folding suitably the workpiece | work Wa provided with the notch in this way.

  When moving and positioning the Wa provided with the notch, the control device positions the carriage 5 and the abutting gauges 29 and 31 so as to position the mounted work Wa with reference to the notch of the work Wa. The left and right direction clamp arm 33, the front and rear direction clamp base 35, the clampers 11 and 13, and the retracting mechanisms 47 and 49 are controlled.

  Next, the operation of the workpiece positioning / conveying apparatus 1 will be described.

  First, a case where a rectangular plate-like workpiece W without a notch is positioned and conveyed will be described.

  6, 7, and 8 are flowcharts showing the operation of the workpiece positioning / conveying apparatus 1 when positioning and transporting a rectangular plate-shaped workpiece W without a notch, and FIGS. 9, 10, and 11. FIG. 4 is a diagram showing states in each operation of the workpiece positioning / conveying device 1.

  First, as an initial state, the left / right clamp arm 33 is positioned at the left end in FIG. 1, and the X direction clamper 11 and the left / right direction pull-in mechanism 47 do not clamp the workpiece W as shown in FIG. Not assumed. Further, the front / rear direction clamp base 35 is located at the lower end of FIG. 1, and the Y direction clamper 13 and the front / rear direction retract mechanism 49 clamp the workpiece W in the same manner as the X direction clamper 11 and the left / right direction retract mechanism 47. It is assumed that it has not been pulled in. Further, the carriage 5 is located at the lower end of FIG. 1 and is, for example, the furthest away from the front table 3. Further, according to the form information of the workpiece W input from the input means, under the control of the control device, the abutment gauges 29, 31 are in predetermined positions (the distance between the abutment gauges 29, 31 is It is assumed that the X-direction clamper 11 is positioned at a predetermined position for clamping the workpiece W at a position slightly smaller than the length of the workpiece W. Furthermore, it is assumed that the manipulator MP is located at the position (work receiving position) PS1 shown in FIG.

  In the initial state (S1), as shown in FIG. 1, when the workpiece W is placed on the carriage 5, for example, when a start button provided in the control device is pressed and the loading of the workpiece W is confirmed (S3). ), The movement of the X-direction clamp arm 33 to the right in FIG. 1 is started (S5). Then, the left / right direction clamp arm 33 moves to the placed work W side (right side in FIG. 1) until the left / right direction sensor 43 detects the placed work W (S7).

  When the left / right direction sensor 43 detects the placed work W (S7), the left / right direction clamp arm 33 stops moving (S9), and the left / right direction clamper 11 clamps the placed work W (S11; FIG. 9 ( a); see FIG.

  Subsequently, the left / right clamp arm 33 starts to move in the left direction in FIG. 1 (S13), and the left / right clamp arm 33 is moved to a predetermined position (predetermined according to the form of the workpiece W input by the input means). For example, the center position of the carriage 5 and the center position of the mounted workpiece W substantially coincide with each other in the left-right direction (S15), and the left-right direction clamp arm is stopped (S21; FIG. 9 (b)).

  When the left / right direction clamp arm 33 is moved in step S13 and the left / right direction sensor 43 no longer detects the workpiece W (S17), for example, an alarm output means (not shown) outputs an alarm (S19). . Instead of outputting an alarm, the workpiece W may be re-clamped by the left-right direction clamper 11.

  Subsequently, the movement of the workpiece W placed on the front / rear direction clamp base 35 to the upper side in FIG. 1 is started (S23), and the front / rear direction clamp 45 is detected when the front / rear direction sensor 45 detects the placed workpiece W (S25). The movement of the base 35 is stopped (S27), the mounted workpiece W is clamped by the front-rear direction clamper 13 (see FIG. 3), and the clamping of the mounted workpiece W by the left-right direction clamper 11 is released (S29; FIG. 10). (C); see FIG.

  Subsequently, the front / rear direction clamp base 35 starts to move toward the abutment gauges 29 and 31 (lower side in FIG. 1) (S31), and the abutment gauge longitudinal direction sensors 51 and 53 are placed on the mounted workpiece W. Is detected (S33), the movement of the front / rear direction clamp base 35 is stopped (S39), and the work W is moved by the front / rear direction retracting mechanism 49 while the loaded work W is clamped by the front / rear direction clamper 13 (see FIG. 3). (S39; see FIG. 4).

  In addition, when the front-rear direction clamp base 35 is moving and the front-rear direction sensor 45 no longer detects the workpiece W in step S33 (S35), for example, an alarm is output (S37). Instead of outputting an alarm, the workpiece W may be re-clamped by the front-rear direction clamper 13.

  Subsequently, the mounted workpiece W is clamped by the left and right clamper 11 while the workpiece W is clamped by the front and rear direction clamper 13 and the workpiece W is pulled by the front and rear direction pulling mechanism 49 (see FIG. 3). The loaded workpiece W is pulled in the left direction of FIG. 1 by the direction pulling mechanism 47 (S41; FIG. 4; see FIG. 10 (d)). When the X direction sensor 43 no longer detects the workpiece W due to this pull-in, for example, an alarm is output (S45).

  Subsequently, the clamped workpiece W is clamped by the clampers 11 and 13, and the carriage 5 is started to move toward the front table 3 while the loaded workpiece W is pulled in by the pull-in mechanisms 47 and 49 (S47). ), When the carriage 5 moves to a predetermined position according to the form of the workpiece input by the input means, the movement of the carriage 5 is stopped (S59), and the workpiece W is clamped by the manipulator MP (S61; FIG. 11 (e)). The predetermined position is, for example, a position where the center of the workpiece W and the center of the manipulator MP coincide with each other in the Y direction.

  The clamped workpiece W is clamped by the clampers 11 and 13 and the carriage 5 is moved to the front table 3 side while the loaded workpiece W is pulled in by the pull-in mechanisms 47 and 49. When at least one of the left / right direction sensor 43 and the abutment gauge front / rear direction sensors 51, 53 no longer detects the loaded workpiece W (S49, S51), the movement of the carriage 5 is stopped ( In step S53, the work positioning holding pull-in operation is performed again (S55), and the movement of the carriage 5 is resumed.

  The operation in step S55 is performed by, for example, the operations in steps S5 to S41 after stopping the pulling in each pulling mechanism 47, 49 and releasing the work clamp in each clamper 11, 13.

  Further, after the work W is clamped by the manipulator MP in step S61, the pulling by the pulling mechanisms 47 and 49 is stopped, the work clamping by the clampers 11 and 13 is released (S63), and the initial state is set. Return to (S65).

  Next, the case where the workpiece Wa provided with the notches as shown in FIG. 13 is positioned and conveyed will be described.

  FIG. 12 is a flowchart showing the operation of the workpiece positioning / conveying apparatus 1 when positioning and conveying a plate-shaped workpiece Wa provided with a notch, and FIGS. 13, 14, and 15 show the workpiece positioning / conveying apparatus. It is a figure which shows the state in each operation | movement of 1. FIG.

  In the operation when the workpiece Wa provided with the notch is positioned and conveyed, the steps S1 to S39 are the same as those of the workpiece W not provided with the notch. However, in the initial state (S1), the positions of the abutment gauges 29 and 31 when the abutment gauges 29 and 31 are moved and positioned differ according to the form of the workpiece Wa input by the input means. That is, for example, in the case of the workpiece Wa provided with the notches, the distance between the positioned abutment gauges 29 and 31 is slightly smaller than the dimension between the notches in the left-right direction of the workpiece Wa. It is getting bigger. When the workpiece Wa is moved in the front-rear direction, the notches (sides extending in the X direction of the notches) come into contact with the butting gauges 29 and 31.

  Further, in the operation when positioning and transporting the workpiece Wa provided with the notches, steps S53 to S65 are the same as those of the workpiece W not provided with the notches. Therefore, since the operations in steps S41 to S51 shown in FIG. 7 and FIG. 8 are different, these different operations are shown in FIG.

  13 (a) corresponds to FIG. 1, FIG. 13 (b) corresponds to FIG. 9 (a), and FIG. 14 (c) corresponds to FIG. 9 (b). 14 (d) is a diagram corresponding to FIG. 10 (c), FIG. 15 (e) is a diagram corresponding to FIG. 10 (d), and FIG. 15 (f) is a diagram corresponding to FIG. It is a figure corresponding to FIG.11 (e).

  In FIG. 12, the workpiece W is pulled in by the front-rear direction pulling mechanism 49 while the mounted workpiece W is clamped by the front-rear direction clamper 13 (S39). At this time, the side of each notch of the workpiece Wa (side extending in the X direction) comes into contact with the abutment gauges 29 and 31.

  Subsequently, movement of the left / right clamp arm 33 toward the placed workpiece Wa is started (S71), and when the left / right sensor 43 detects the placed workpiece Wa (S73), the left / right clamp arm 33 is moved. The movement is stopped (S75; see FIG. 15E), the workpiece Wa is clamped by the X-direction clamper 11, and the workpiece Wa is pulled by the left-right direction pulling mechanism 47 (S75). As a result, as shown in FIG. 15 (f), the lower right notch of the work Wa comes into contact with the first abutment gauge 29, and the work Wa becomes X with respect to the lower right notch of the work Wa. Positioning in the direction and the Y direction. Furthermore, the workpiece Wa is detected by the first butting gauge Y direction sensor 51, the second butting gauge Y direction sensor 53, and the first butting gauge X direction sensor 71 during positioning.

  In step S75, instead of retracting the workpiece Wa by the lateral pull-in mechanism 47, the lateral clamp arm 33 is moved (to the left side in FIG. 1), and the first butting gauge lateral sensor 71 is placed on the workpiece. When the Wa is detected at each notch, the movement of the left / right clamp arm 33 may be stopped, and the workpiece Wa may be drawn by the left / right pull-in mechanism 47 after the stop.

  Subsequently, movement of the carriage 5 toward the front table 3 is started (S77), and when the carriage 5 reaches a predetermined position, the movement of the carriage is completed (S57).

  In the middle of moving the carriage 5 to a predetermined position, at least one of the butting gauge longitudinal sensors 51 and 53 and the butting gauge lateral sensor 71 does not detect the mounted work Wa. When this occurs, the movement of the carriage 5 is stopped (S53), the workpiece positioning holding pull-in operation is performed again (S55), and the movement of the carriage 5 is resumed.

  According to the workpiece positioning / conveying device 1, if a displacement of the workpiece W (Wa) is detected while moving the carriage 5, the movement of the carriage 5 is stopped and the workpiece positioning holding mechanism 7 causes the workpiece W ( Wa) is repositioned with respect to the carriage 5, the repositioned work W (Wa) is held, and the movement of the carriage 5 is resumed, so that the position shift of the work W (Wa) occurs during the transfer of the work W (Wa). Even in this case, it is not necessary to return the carriage to the origin positioning table as in the conventional workpiece positioning and conveying device, and it is possible to prevent the positioning and conveying time of the workpiece W (Wa) from being extended as much as possible.

  In addition, according to the workpiece positioning transfer 1, the workpiece W (Wa) is clamped by the Y direction clamper 13, the workpiece W (Wa) is positioned in the Y direction, and then the workpiece W (Wa) is clamped by the Y direction clamper 13. The workpiece W (Wa) is clamped by the X-direction clamper 11 while the workpiece W (Wa) is positioned in the X direction while maintaining the position of the workpiece W (Wa) in the Y direction. W (Wa) can be positioned quickly and accurately.

  That is, the workpiece W (Wa) is positioned in the Y direction, and thereafter, the clamp of the workpiece W (Wa) by the Y direction clamper 13 is released, and the workpiece W (Wa) is simply placed on the carriage 5 in the X direction. When positioning in the X direction, the workpiece W (Wa) is displaced slightly in the Y direction when positioning in the X direction. However, as described above, the workpiece W (Wa) is clamped by the Y direction clamper 13 and the workpiece W (Wa) is clamped by the X direction clamper 11 while the position of the workpiece W (Wa) in the Y direction is maintained. If the workpiece W (Wa) is positioned in the direction, it is possible to prevent a slight shift of the position of the workpiece W (Wa) in the Y direction when positioning in the X direction. The workpiece W (Wa) can be positioned quickly and accurately in the direction.

  In addition, according to the workpiece positioning and conveying device 1, after positioning and holding the mounted workpiece W (Wa) with respect to the carriage 5, the drawing mechanisms 47 and 49 are used to move the mounted workpiece W (Wa). Since the carriage 5 is moved in a state where the drawing, the positioning, the holding, and the drawing are performed, and the loaded workpiece W (Wa) is conveyed, the workpiece W (Wa) is conveyed while the workpiece W (Wa) is being conveyed. Even when an external force is applied to Wa), it is difficult for the workpiece W (Wa) to be misaligned with respect to the carriage 5.

  By the way, instead of the configuration in which the Y direction clamper 13 is moved in the X direction with respect to the front and rear direction clamp base 35, the Y direction clamper 13 has the axis CL extending in the Z direction as a rotation center and the front and rear direction clamp base. A configuration that rotates with respect to 35 may be adopted. Even in such a rotating configuration, the workpiece W (Wa) clamped by the Y-direction clamper 13 slightly moves in the X direction.

  Further, as shown in FIG. 16 (a diagram showing a modification of each clamper 11, 13 and a diagram corresponding to FIG. 2), a configuration in which each retracting mechanism 47, 49 is deleted may be employed.

  That is, an upper work clamp claw 59a that moves up and down by a cylinder 63a is provided to the lower work clamp claw 57a, and the work W is sandwiched and clamped between the lower work clamp claw 57a and the upper work clamp claw 59a. Also good.

  Further, as shown in FIG. 17 (a diagram showing a modified example of the front table 3 and the carriage 5 and a corresponding diagram in FIG. 1), the work W (Wa) is placed only on the front table 3a. You may comprise the workpiece | work positioning conveyance apparatus 1a.

  That is, the front table 3a is configured so that the members 17a extending in the front-rear direction are arranged side by side with a predetermined interval in the left-right direction, and the workpiece W (Wa) is supported by the brush 19 planted in the member 17a. Alternatively, the carriage 5a may be configured in a portal shape so as to straddle the front table 3a, and the front table 3a may be movable and positioned in the front-rear direction.

  In this case, the beam 77 of the carriage 5a extends in the left-right direction above the front table 3a. For example, at the lower part of the beam 77, the left-right direction clamp arm 33, the front-rear direction clamp base 35, and the butting gauges 29, 31 are provided. It shall be provided.

  The workpiece positioning / conveying device 1, 1a described above maintains the positional relationship with respect to the carriage by moving the carriage between the positioning means for positioning the workpiece with respect to the carriage and the workpiece positioned by the positioning means. And a control unit that controls the positioning unit so that the positioning unit re-positions the workpiece when the workpiece is displaced with respect to the carriage when transported by the transporting unit. It is an example of the workpiece positioning conveyance apparatus which has a means.

It is a top view which shows schematic structure of the workpiece | work positioning conveyance apparatus 1 which concerns on embodiment of this invention. It is a figure which shows the II-II cross section in FIG. 1, and is a figure which shows schematic structure of a work clamper and a workpiece drawing mechanism. It is a figure which shows operation | movement of a work clamper and a workpiece drawing-in mechanism. It is a figure which shows operation | movement of a work clamper and a workpiece drawing-in mechanism. It is a figure which shows operation | movement of a work clamper and a workpiece drawing-in mechanism. It is a flowchart which shows operation | movement of the workpiece | work positioning conveyance apparatus 1 when positioning and conveying the rectangular plate-shaped workpiece | work W without a notch. It is a flowchart which shows operation | movement of the workpiece | work positioning conveyance apparatus 1 when positioning and conveying the rectangular plate-shaped workpiece | work W without a notch. It is a flowchart which shows operation | movement of the workpiece | work positioning conveyance apparatus 1 when positioning and conveying the rectangular plate-shaped workpiece | work W without a notch. It is a figure which shows the state in each operation | movement of the workpiece | work positioning conveyance apparatus. It is a figure which shows the state in each operation | movement of the workpiece | work positioning conveyance apparatus. It is a figure which shows the state in each operation | movement of the workpiece | work positioning conveyance apparatus. It is a flowchart which shows operation | movement of the workpiece | work positioning conveyance apparatus 1 when positioning and conveying the plate-shaped workpiece | work Wa provided with the notch. It is a figure which shows the state in each operation | movement of the workpiece | work positioning conveyance apparatus. It is a figure which shows the state in each operation | movement of the workpiece | work positioning conveyance apparatus. It is a figure which shows the state in each operation | movement of the workpiece | work positioning conveyance apparatus. It is a figure which shows the modification of each clamper, and is a figure corresponding to FIG. It is a figure which shows the modification of the front table 3 and the carriage 5, and is a figure corresponding to FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1, 1a Work positioning conveyance apparatus 3, 3a Front table 5, 5a Carriage 7 Work positioning holding mechanism 9 Detection means 11 Left-right direction clamper 13 Front-rear direction clamper 29, 31 Abutting gauge 33 Left-right direction clamp arm 35 Front-rear direction clamp base 47 Left-right Direction pull-in mechanism 49 Front-rear direction pull-in mechanism W, Wa Work

Claims (5)

With front table;
A carriage that moves in a direction approaching or moving away from the front table;
A workpiece positioning and holding mechanism provided on the carriage for positioning the workpiece with respect to the carriage by holding the workpiece against the butting portion and holding the positioned workpiece by the carriage;
Detecting means for detecting that a displacement of the work held by the work positioning and holding mechanism with respect to the carriage has occurred;
When detecting the displacement of the workpiece by the detecting means, the workpiece is repositioned with respect to the carriage by abutting the workpiece against the abutting portion, and the carriage is moved so as to move the carriage after the repositioning. Control means for controlling the workpiece positioning and holding mechanism;
A workpiece positioning and conveying apparatus characterized by comprising: In the workpiece positioning and conveying apparatus according to claim 1,
The workpiece positioning and holding mechanism is movable with respect to the carriage in one horizontal direction and clamps the workpiece, and is movable with respect to the carriage in one other horizontal direction. A second clamper for clamping the workpiece,
The control means clamps the workpiece with the second clamper, moves the second clamper to position the workpiece in the other direction, and then clamps the workpiece with the second clamper. And while maintaining the position of the work in the other one direction, the work is clamped by the first clamper, the first clamper is moved, and the work is positioned in the one direction. A workpiece positioning / conveying device characterized by being means for controlling a clamper. A front table that is provided on the front side of the work processing machine and that extends in the front-rear direction in a plan view and is arranged at a predetermined interval in the left-right direction;
Each tooth of the comb that is provided on the front side of the front table, is formed in a comb shape in plan view, and that the long side portion of the comb extends in the left-right direction and is opposite to the work processing machine with the front table interposed therebetween. Extends in the direction from the long side portion toward the workpiece processing machine, and the teeth are inserted between the members of the front table, and a plate-like workpiece is placed on the front table. A carriage that is movable and positionable in any direction;
Input means for inputting the form of the workpiece placed on the carriage;
It is provided on the carriage to abut the mounted workpiece, which is a workpiece placed on the carriage, and moves in the left-right direction with respect to the carriage on one end side in the left-right direction of the long side portion of the carriage. A first abutment gauge that is freely positionable;
A second portion provided on the carriage for abutting the placed workpiece, and movable and positioned in the left-right direction with respect to the carriage at the other end portion in the left-right direction of the long side portion of the carriage; With a butting gauge;
A left-right direction provided on the carriage, with a base end side engaged with a long side portion of the carriage to be movable and positionable in the left-right direction with respect to the carriage, and a distal end side extending to the front table side A clamp arm;
It is provided on the left and right clamp arm, and can be moved and positioned with respect to the left and right clamp arm in the front-rear direction, and has an abutting portion for abutting the above-mentioned placed workpiece. A left-right clamper that clamps the contacted workpiece;
A front-rear direction clamp base provided on the carriage between the abutment gauges and movable in the front-rear direction with respect to the carriage;
Workpiece that is provided on the clamp base in the front-rear direction and is movable with respect to the clamp base in the left-right direction. When a horizontal force is not applied, it is positioned in the middle of the clamp base in the horizontal direction, and moves in the horizontal direction according to the applied force when the horizontal force is applied. A longitudinal clamper adapted to do;
A left-right direction sensor for detecting that the previously placed workpiece is in contact with the abutting portion of the left-right direction clamper;
A left and right direction pull-in mechanism that pulls in the previously placed workpiece clamped by the left and right direction clamper so that the previously placed workpiece clamped by the left and right direction clamper further moves in a direction approaching the left and right direction sensor;
A front-rear direction sensor for detecting that the previously placed workpiece is in contact with the abutting portion of the front-rear direction clamper;
A front-rear direction pull-in mechanism that retracts the previously placed workpiece clamped by the front-rear direction clamper so that the previously placed workpiece clamped by the front-rear direction clamper further moves in a direction approaching the front-rear direction sensor;
A first abutting gauge front-rear direction sensor for detecting that the previously placed workpiece is in contact with the first abutting gauge;
A second butting gauge front-rear direction sensor for detecting that the previously placed workpiece is in contact with the second butting gauge;
According to the form of the workpiece input by the input means, the abutment gauges are moved and positioned, and the left and right clamp arms, the front and rear clamp bases, the clampers, the sensors, and the retracting mechanisms are provided. Using the above-described positioning, holding, and drawing of the placed workpiece with respect to the carriage, and starting the movement of the carriage in a state in which the positioning, holding, and drawing are performed;
In the middle of moving the carriage to a predetermined position, when at least one of the left and right direction sensors and the abutment gauge front and rear direction sensors no longer detects the workpiece placed above, The carriage, the abutment gauges, the left and right clamp arms, so that the movement is stopped and the movement of the carriage is resumed after the positioning, holding, and drawing of the previously placed workpiece with respect to the carriage is performed again. A control device for controlling the front-rear direction clamp base, the clampers, and the retracting mechanisms;
A workpiece positioning and conveying apparatus characterized by comprising: In the workpiece positioning and conveying apparatus according to claim 3,
The workpiece is a workpiece in which rectangular cutouts are provided at four corners of a rectangular plate-shaped material,
The input means is means for inputting the width and length of the material and the size of the notch of the plate-like workpiece provided with the notch,
The first butting gauge front-rear direction sensor is a sensor that detects that the previously placed workpiece is in contact with one end of the first abutting gauge in the front-rear direction,
The second butting gauge front-rear direction sensor is a sensor that detects that the previously placed workpiece is in contact with one end of the second abutting gauge in the front-rear direction,
A first abutting gauge left-right direction sensor for detecting that the placed workpiece is in contact with one end of the first abutting gauge in the left-right direction on the second abutting gauge side;
The control device includes the carriage, the abutting gauges, the left and right clamp arms, the front and rear clamp bases, and the clampers so as to position the previously placed workpiece with reference to the notch of the workpiece. A workpiece positioning / conveying apparatus, which is a device for controlling each of the drawing mechanisms. Positioning means for positioning the workpiece with respect to the carriage by abutting the workpiece against the abutting portion ;
Conveying means for conveying the workpiece positioned by the positioning means by moving the carriage;
When the workpiece is displaced with respect to the carriage while being conveyed by the conveying means, the positioning means is controlled so as to reposition the workpiece by abutting the workpiece against the abutting portion. Control means to perform;
A workpiece positioning and conveying apparatus characterized by comprising:

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